Mechatronic design and development of a robotic arm
In this study a small scale robot arm was developed based on the actual rig. The parameter from the model is used in the simulation process. Simulation algorithm was developed and implemented within the Simulink environment. The analysis is done by the implementation of different type of control sch...
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| Format: | Thesis |
| Language: | English |
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2006
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| Online Access: | http://eprints.utm.my/9681/1/ZulkifliMohamedMFKM2006.pdf |
| _version_ | 1796854560619233280 |
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| author | Mohamed, Zulkifli |
| author_facet | Mohamed, Zulkifli |
| author_sort | Mohamed, Zulkifli |
| collection | ePrints |
| description | In this study a small scale robot arm was developed based on the actual rig. The parameter from the model is used in the simulation process. Simulation algorithm was developed and implemented within the Simulink environment. The analysis is done by the implementation of different type of control scheme and disturbances to the robot arm. The results from the simulation are used and compared with experimental results. It is proven that a robot arm having a PD-AFC scheme is very robust and stable compare to PD control. |
| first_indexed | 2024-03-05T18:15:53Z |
| format | Thesis |
| id | utm.eprints-9681 |
| institution | Universiti Teknologi Malaysia - ePrints |
| language | English |
| last_indexed | 2024-03-05T18:15:53Z |
| publishDate | 2006 |
| record_format | dspace |
| spelling | utm.eprints-96812018-09-17T03:46:54Z http://eprints.utm.my/9681/ Mechatronic design and development of a robotic arm Mohamed, Zulkifli TJ Mechanical engineering and machinery In this study a small scale robot arm was developed based on the actual rig. The parameter from the model is used in the simulation process. Simulation algorithm was developed and implemented within the Simulink environment. The analysis is done by the implementation of different type of control scheme and disturbances to the robot arm. The results from the simulation are used and compared with experimental results. It is proven that a robot arm having a PD-AFC scheme is very robust and stable compare to PD control. 2006-11 Thesis NonPeerReviewed application/pdf en http://eprints.utm.my/9681/1/ZulkifliMohamedMFKM2006.pdf Mohamed, Zulkifli (2006) Mechatronic design and development of a robotic arm. Masters thesis, Universiti Teknologi Malaysia, Faculty of Mechanical Engineering. http://dms.library.utm.my:8080/vital/access/manager/Repository/vital:839 |
| spellingShingle | TJ Mechanical engineering and machinery Mohamed, Zulkifli Mechatronic design and development of a robotic arm |
| title | Mechatronic design and development of a robotic arm |
| title_full | Mechatronic design and development of a robotic arm |
| title_fullStr | Mechatronic design and development of a robotic arm |
| title_full_unstemmed | Mechatronic design and development of a robotic arm |
| title_short | Mechatronic design and development of a robotic arm |
| title_sort | mechatronic design and development of a robotic arm |
| topic | TJ Mechanical engineering and machinery |
| url | http://eprints.utm.my/9681/1/ZulkifliMohamedMFKM2006.pdf |
| work_keys_str_mv | AT mohamedzulkifli mechatronicdesignanddevelopmentofaroboticarm |